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<div class="title">fitting_sphere_pdm.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef NURBS_FITTING_SPHERE_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define NURBS_FITTING_SPHERE_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_tools.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_data.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/on_nurbs/nurbs_solve.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">namespace </span>on_nurbs</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html">   55</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html">FittingSphere</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <a class="code" href="class_o_n___text_log.html">ON_TextLog</a> m_out;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> m_nurbs;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *m_data;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a549fcd1595a18613022c0251c5513b3f">   67</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a549fcd1595a18613022c0251c5513b3f">FittingSphere</a> (<span class="keywordtype">int</span> order, <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a8ae3540f1951a847a07265b4bcacc1fd">   72</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a8ae3540f1951a847a07265b4bcacc1fd">FittingSphere</a> (<a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data, <span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;ns);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a80683c80aa120277d1536cdc0897c7c2">   78</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a80683c80aa120277d1536cdc0897c7c2">assemble</a> (<span class="keywordtype">double</span> smoothness = 0.000001f);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a1b0d2718e338887c06be164211dab950">   83</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a1b0d2718e338887c06be164211dab950">solve</a> (<span class="keywordtype">double</span> damp = 1.0);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad010f247a7503d7d7a2f5821b5ed626d">   88</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad010f247a7503d7d7a2f5821b5ed626d">updateSurf</a> (<span class="keywordtype">double</span> damp);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a59520071cc6c86c5ce0cce8f0e52ff25">   94</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a59520071cc6c86c5ce0cce8f0e52ff25">setInvMapParams</a> (<span class="keywordtype">int</span> in_max_steps, <span class="keywordtype">double</span> invMapInt_accuracy);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      setQuiet (<span class="keywordtype">bool</span> val)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        m_quiet = val;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;        m_solver.<a class="code" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html#a70b6eb9dcea4c9625b4d288a529e0a33">setQuiet</a> (val);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <span class="keyword">static</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#abd2a9a5401b67aacd689262d511e1ee4">  105</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#abd2a9a5401b67aacd689262d511e1ee4">initNurbsSphere</a> (<span class="keywordtype">int</span> order, <a class="code" href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">NurbsDataSurface</a> *data, Eigen::Vector3d pole_axis = Eigen::Vector3d (0.0, 0.0, 1.0));</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">static</span> std::vector&lt;double&gt;</div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#aea780ae078ec1bab62d454653056e243">  109</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#aea780ae078ec1bab62d454653056e243">getElementVector</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, <span class="keywordtype">int</span> dim);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">static</span> Eigen::Vector2d</div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a5cd17d6ac3e9ea84f6ef889f7b528af2">  125</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a5cd17d6ac3e9ea84f6ef889f7b528af2">inverseMapping</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector3d &amp;pt, <span class="keyword">const</span> Eigen::Vector2d &amp;hint,</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;                      <span class="keywordtype">double</span> &amp;error, Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;tu, Eigen::Vector3d &amp;tv, <span class="keywordtype">int</span> maxSteps = 100,</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                      <span class="keywordtype">double</span> accuracy = 1e-6, <span class="keywordtype">bool</span> quiet = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">static</span> Eigen::Vector2d</div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a544e28149755baa8415572729126011d">  134</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a544e28149755baa8415572729126011d">findClosestElementMidPoint</a> (<span class="keyword">const</span> <a class="code" href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a> &amp;nurbs, <span class="keyword">const</span> Eigen::Vector3d &amp;pt);</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad71c10045943a889526362ecd0e227a7">  140</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad71c10045943a889526362ecd0e227a7">init</a> ();</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a74f26f1df119a2d8d4d532bc994dd9f0">  144</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a74f26f1df119a2d8d4d532bc994dd9f0">assembleInterior</a> (<span class="keywordtype">double</span> wInt, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a6572f0072fe2ed6eae64e5c3761d52ca">  148</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a6572f0072fe2ed6eae64e5c3761d52ca">addPointConstraint</a> (<span class="keyword">const</span> Eigen::Vector2d &amp;params, <span class="keyword">const</span> Eigen::Vector3d &amp;point, <span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a666273c81df43c4601d5e8e02fa7caec">  152</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a666273c81df43c4601d5e8e02fa7caec">addCageInteriorRegularisation</a> (<span class="keywordtype">double</span> weight, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad578fa20b2db6f3c904def9d7ad4908d">  156</a></span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad578fa20b2db6f3c904def9d7ad4908d">addCageBoundaryRegularisation</a> (<span class="keywordtype">double</span> weight, <span class="keywordtype">int</span> side, <span class="keywordtype">unsigned</span> &amp;row);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <a class="code" href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">NurbsSolve</a> m_solver;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordtype">bool</span> m_quiet;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      <span class="keywordtype">int</span> in_max_steps;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">double</span> in_accuracy;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="comment">// index routines</span></div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      grc2gl (<span class="keywordtype">int</span> I, <span class="keywordtype">int</span> J)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      {</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordtype">int</span> cp_red = (m_nurbs.m_order[1] - 2);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordtype">int</span> ncpj = (m_nurbs.m_cv_count[1] - 2 * cp_red);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordflow">return</span> ncpj * I + (J % ncpj);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      } <span class="comment">// global row/col index to global lexicographic index</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      lrc2gl (<span class="keywordtype">int</span> E, <span class="keywordtype">int</span> F, <span class="keywordtype">int</span> i, <span class="keywordtype">int</span> j)</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordflow">return</span> grc2gl (E + i, F + j);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      } <span class="comment">// local row/col index to global lexicographic index</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      gl2gr (<span class="keywordtype">int</span> A)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordflow">return</span> (A / m_nurbs.CVCount (1));</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      } <span class="comment">// global lexicographic in global row index</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="keywordtype">int</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      gl2gc (<span class="keywordtype">int</span> A)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keywordflow">return</span> (A % m_nurbs.CVCount (1));</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      } <span class="comment">// global lexicographic in global col index</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    };</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  }</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;}</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* NURBS_FITTING_SPHERE_H */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclass_o_n___nurbs_surface_html"><div class="ttname"><a href="class_o_n___nurbs_surface.html">ON_NurbsSurface</a></div><div class="ttdef"><b>Definition:</b> opennurbs_nurbssurface.h:65</div></div>
<div class="ttc" id="aclass_o_n___text_log_html"><div class="ttname"><a href="class_o_n___text_log.html">ON_TextLog</a></div><div class="ttdef"><b>Definition:</b> opennurbs_textlog.h:23</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html">pcl::on_nurbs::FittingSphere</a></div><div class="ttdoc">Fitting a cylindric (dim 0 clamped, dim 1 periodic) B-Spline surface to 3D point-clouds using point-d...</div><div class="ttdef"><b>Definition:</b> fitting_sphere_pdm.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a1b0d2718e338887c06be164211dab950"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a1b0d2718e338887c06be164211dab950">pcl::on_nurbs::FittingSphere::solve</a></div><div class="ttdeci">void solve(double damp=1.0)</div><div class="ttdoc">Solve system of equations using Eigen or UmfPack (can be defined in on_nurbs.cmake),...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a544e28149755baa8415572729126011d"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a544e28149755baa8415572729126011d">pcl::on_nurbs::FittingSphere::findClosestElementMidPoint</a></div><div class="ttdeci">static Eigen::Vector2d findClosestElementMidPoint(const ON_NurbsSurface &amp;nurbs, const Eigen::Vector3d &amp;pt)</div><div class="ttdoc">Given a point pt, the function finds the closest midpoint of the elements of the surface.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a549fcd1595a18613022c0251c5513b3f"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a549fcd1595a18613022c0251c5513b3f">pcl::on_nurbs::FittingSphere::FittingSphere</a></div><div class="ttdeci">FittingSphere(int order, NurbsDataSurface *data)</div><div class="ttdoc">Constructor initializing B-Spline surface using initNurbsPCACylinder(...).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a59520071cc6c86c5ce0cce8f0e52ff25"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a59520071cc6c86c5ce0cce8f0e52ff25">pcl::on_nurbs::FittingSphere::setInvMapParams</a></div><div class="ttdeci">void setInvMapParams(int in_max_steps, double invMapInt_accuracy)</div><div class="ttdoc">Set parameters for inverse mapping</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a5cd17d6ac3e9ea84f6ef889f7b528af2"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a5cd17d6ac3e9ea84f6ef889f7b528af2">pcl::on_nurbs::FittingSphere::inverseMapping</a></div><div class="ttdeci">static Eigen::Vector2d inverseMapping(const ON_NurbsSurface &amp;nurbs, const Eigen::Vector3d &amp;pt, const Eigen::Vector2d &amp;hint, double &amp;error, Eigen::Vector3d &amp;p, Eigen::Vector3d &amp;tu, Eigen::Vector3d &amp;tv, int maxSteps=100, double accuracy=1e-6, bool quiet=true)</div><div class="ttdoc">Inverse mapping / point inversion: Given a point pt, this function finds the closest point on the B-S...</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a6572f0072fe2ed6eae64e5c3761d52ca"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a6572f0072fe2ed6eae64e5c3761d52ca">pcl::on_nurbs::FittingSphere::addPointConstraint</a></div><div class="ttdeci">void addPointConstraint(const Eigen::Vector2d &amp;params, const Eigen::Vector3d &amp;point, double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: point-to-surface distance (point-distance-minimization).</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a666273c81df43c4601d5e8e02fa7caec"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a666273c81df43c4601d5e8e02fa7caec">pcl::on_nurbs::FittingSphere::addCageInteriorRegularisation</a></div><div class="ttdeci">void addCageInteriorRegularisation(double weight, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: interior smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a74f26f1df119a2d8d4d532bc994dd9f0"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a74f26f1df119a2d8d4d532bc994dd9f0">pcl::on_nurbs::FittingSphere::assembleInterior</a></div><div class="ttdeci">void assembleInterior(double wInt, unsigned &amp;row)</div><div class="ttdoc">Assemble point-to-surface constraints for interior points.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a80683c80aa120277d1536cdc0897c7c2"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a80683c80aa120277d1536cdc0897c7c2">pcl::on_nurbs::FittingSphere::assemble</a></div><div class="ttdeci">void assemble(double smoothness=0.000001f)</div><div class="ttdoc">Assemble the system of equations for fitting</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_a8ae3540f1951a847a07265b4bcacc1fd"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#a8ae3540f1951a847a07265b4bcacc1fd">pcl::on_nurbs::FittingSphere::FittingSphere</a></div><div class="ttdeci">FittingSphere(NurbsDataSurface *data, const ON_NurbsSurface &amp;ns)</div><div class="ttdoc">Constructor initializing with the B-Spline surface given in argument 2.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_abd2a9a5401b67aacd689262d511e1ee4"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#abd2a9a5401b67aacd689262d511e1ee4">pcl::on_nurbs::FittingSphere::initNurbsSphere</a></div><div class="ttdeci">static ON_NurbsSurface initNurbsSphere(int order, NurbsDataSurface *data, Eigen::Vector3d pole_axis=Eigen::Vector3d(0.0, 0.0, 1.0))</div><div class="ttdoc">Initializing a cylindric B-Spline surface using principal-component-analysis and eigen values</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_ad010f247a7503d7d7a2f5821b5ed626d"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad010f247a7503d7d7a2f5821b5ed626d">pcl::on_nurbs::FittingSphere::updateSurf</a></div><div class="ttdeci">void updateSurf(double damp)</div><div class="ttdoc">Update surface according to the current system of equations.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_ad578fa20b2db6f3c904def9d7ad4908d"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad578fa20b2db6f3c904def9d7ad4908d">pcl::on_nurbs::FittingSphere::addCageBoundaryRegularisation</a></div><div class="ttdeci">void addCageBoundaryRegularisation(double weight, int side, unsigned &amp;row)</div><div class="ttdoc">Add minimization constraint: corner smoothness by control point regularisation.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_ad71c10045943a889526362ecd0e227a7"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#ad71c10045943a889526362ecd0e227a7">pcl::on_nurbs::FittingSphere::init</a></div><div class="ttdeci">void init()</div><div class="ttdoc">Initialisation of member variables</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_fitting_sphere_html_aea780ae078ec1bab62d454653056e243"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_fitting_sphere.html#aea780ae078ec1bab62d454653056e243">pcl::on_nurbs::FittingSphere::getElementVector</a></div><div class="ttdeci">static std::vector&lt; double &gt; getElementVector(const ON_NurbsSurface &amp;nurbs, int dim)</div><div class="ttdoc">Get the elements of a cylindric B-Spline surface.</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_nurbs_solve_html"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html">pcl::on_nurbs::NurbsSolve</a></div><div class="ttdoc">Solving the linear system of equations using Eigen or UmfPack. (can be defined in on_nurbs....</div><div class="ttdef"><b>Definition:</b> nurbs_solve.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1on__nurbs_1_1_nurbs_solve_html_a70b6eb9dcea4c9625b4d288a529e0a33"><div class="ttname"><a href="classpcl_1_1on__nurbs_1_1_nurbs_solve.html#a70b6eb9dcea4c9625b4d288a529e0a33">pcl::on_nurbs::NurbsSolve::setQuiet</a></div><div class="ttdeci">void setQuiet(bool val)</div><div class="ttdoc">Enable/Disable debug outputs in console.</div><div class="ttdef"><b>Definition:</b> nurbs_solve.h:111</div></div>
<div class="ttc" id="astructpcl_1_1on__nurbs_1_1_nurbs_data_surface_html"><div class="ttname"><a href="structpcl_1_1on__nurbs_1_1_nurbs_data_surface.html">pcl::on_nurbs::NurbsDataSurface</a></div><div class="ttdoc">Data structure for NURBS surface fitting (FittingSurface, FittingSurfaceTDM, FittingCylinder,...</div><div class="ttdef"><b>Definition:</b> nurbs_data.h:61</div></div>
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